diff --git a/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp b/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
index 806a88f3ac..0547216437 100644
--- a/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/test/planning_scene_monitor_test.cpp
@@ -59,6 +59,9 @@ class PlanningSceneMonitorTest : public ::testing::Test
     scene_ = planning_scene_monitor_->getPlanningScene();
     executor_->add_node(test_node_);
     executor_thread_ = std::thread([this]() { executor_->spin(); });
+
+    // Needed to avoid race conditions on high-load CPUs.
+    std::this_thread::sleep_for(std::chrono::seconds{ 1 });
   }
 
   void TearDown() override